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You know: www.unity3d.com, runs Mono. Prefer Windows, but understand that Mac might be closer to supportable.


Originally posted by daveayyyy on ROS Answers with karma: 51 on 2014-01-28

Post score: 5


Original comments

Comment by bchr on 2014-01-28:
What kind of integration are you talking about?

Comment by daveayyyy on 2014-01-28:
Using C# to talk to native, DLL, or websocket, for example. Want to be able to interact with the 3D model of my building to tell robot where to go, have robot tell me where it is and reflect that in the model.

Comment by Wolf on 2014-01-28:
I integrated untiy via DLL + socket conection to player/stage 3 years ago . Was quite a bit of work. Haven't heard any thing about ROS+Unity, would be awesome, though.

Comment by Kadir Firat Uyanik on 2015-04-06:
Is there anyone who has got his/her hands dirty on that (viz. ROS+Unity3D) ?

Comment by pavan on 2016-06-17:
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7392488

These guys have done quite a bit in making unity and ROS speak. But sadly, they say nothing about their code.

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2 Answers 2

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rosbridge is a great way to make a websocket which can stream data via restful api. You can use rosbridge to get topics from ROS to unity. I've done this myself but one caveat is that PointCloud2 topics are bugged in indigo to the point that the streaming doesn't work for those types.

Here's a great example to get you started with streaming topics form a kinect: http://wiki.ros.org/ros3djs/Tutorials/Point%20Cloud%20Streaming%20from%20a%20Kinect

Also, do ingest the data via Unity3d you merely point it at the web service.


Originally posted by jacksonkr_ with karma: 396 on 2016-11-09

This answer was ACCEPTED on the original site

Post score: 1

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We have recently published our ROS-Unity3D Toolbox ROS# on GitHub: https://github.com/siemens/ros-sharp

We use rosbridge_suite on the ROS side and implemented RosBridgeClient in C# (using websocket-sharp and newtonsoft json.net).

Our toolbox also has a URDF importer for Unity3d which downloads URDF, meshes and textures from ROS and models the robot with all its kinematics in Unity3D.


Originally posted by Martin Bischoff with karma: 71 on 2017-10-13

This answer was NOT ACCEPTED on the original site

Post score: 5


Original comments

Comment by Demian23 on 2017-11-23:
Not sure if I can ask you elsewhere, so I ask here: I implemented the ros-sharp toolkit in an existing unity project and even set up a new one but got a error compiling the projects. Something with the newsonsoft.json has problems. It could be because we use the hololens toolkit too. Any suggestions

Comment by Martin Bischoff on 2017-11-23:
@Demian23 please provide a clear error description so that we can help you.

Problems with ROS#: Please write detailed issues here: https://github.com/siemens/ros-sharp/issues

Unity3D, Hololens, Json.NET Problems: https://answers.unity.com/questions/ask.html

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